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Debt and Credit Facilities - Summary of debt (Details) - USD ($)
$ in Millions
12 Months Ended
Sep. 30, 2016
Dec. 31, 2016
Jan. 02, 2016
Senior Unsecured Revolving Credit Facility, Expiring September 2021      
Debt      
Maximum borrowing capacity $ 1,000    
Portion available for issuance of letters of credit against facility $ 100    
Amount borrowed against facility   $ 0  
Letters of credit issued against credit facility   11  
Senior Unsecured Revolving Credit Facility, Expiring October 2018 Terminated      
Debt      
Debt instrument term 5 years    
Amount borrowed against facility $ 0    
Manufacturing group      
Debt      
Debt   2,777 $ 2,697
Less: Short-term debt and current portion of long-term debt   (363) (262)
Total Long-term debt   2,414 2,435
Manufacturing group | 4.625% due 2016      
Debt      
Unsecured Debt     $ 250
Interest rate (as a percent)     4.625%
Manufacturing group | 5.60% due 2017      
Debt      
Unsecured Debt   $ 350 $ 350
Interest rate (as a percent)   5.60% 5.60%
Manufacturing group | Variable-rate note due 2018 (2.09% and 1.58%, respectively)      
Debt      
Debt   $ 150 $ 150
Interest rate (as a percent)   2.09% 1.58%
Manufacturing group | 7.25% due 2019      
Debt      
Unsecured Debt   $ 250 $ 250
Interest rate (as a percent)   7.25% 7.25%
Manufacturing group | Variable-rate note due 2019 (1.95% and 1.59%, respectively)      
Debt      
Debt   $ 200 $ 200
Interest rate (as a percent)   1.95% 1.59%
Manufacturing group | 6.625% due 2020      
Debt      
Unsecured Debt   $ 184 $ 222
Interest rate (as a percent)   6.625% 6.625%
Manufacturing group | 3.65% due 2021      
Debt      
Unsecured Debt   $ 250 $ 250
Interest rate (as a percent)   3.65% 3.65%
Manufacturing group | 5.95% due 2021      
Debt      
Unsecured Debt   $ 250 $ 250
Interest rate (as a percent)   5.95% 5.95%
Manufacturing group | 4.30% due 2024      
Debt      
Unsecured Debt   $ 350 $ 350
Interest rate (as a percent)   4.30% 4.30%
Manufacturing group | 3.875% due 2025      
Debt      
Unsecured Debt   $ 350 $ 350
Interest rate (as a percent)   3.875% 3.875%
Manufacturing group | 4.00% due 2026      
Debt      
Unsecured Debt   $ 350  
Interest rate (as a percent)   4.00%  
Manufacturing group | Other (weighted-average rate of 2.86% and 1.29%, respectively)      
Debt      
Debt   $ 93 $ 75
Weighted average interest rate (as a percent)   2.86% 1.29%
Finance group      
Debt      
Debt   $ 903 $ 913
Finance group | Fixed-rate notes due 2016-2017 (weighted-average rate of 4.59%)      
Debt      
Debt   $ 10 $ 21
Weighted average interest rate (as a percent)   4.59% 4.59%
Finance group | Variable-rate note due 2018 (weighted-average rate of 1.89% and 1.53%, respectively)      
Debt      
Debt   $ 200 $ 200
Weighted average interest rate (as a percent)   1.89% 1.53%
Finance group | 2.26% note due 2019      
Debt      
Debt   $ 150  
Interest rate (as a percent)   2.26%  
Finance group | Fixed-rate notes due 2017-2025 (weighted-average rate of 2.87% and 2.79%, respectively)      
Debt      
Debt   $ 202 $ 300
Weighted average interest rate (as a percent)   2.87% 2.79%
Finance group | Variable-rate notes due 2016-2025 (weighted-average rate of 1.97% and 1.54%, respectively)      
Debt      
Debt   $ 42 $ 52
Weighted average interest rate (as a percent)   1.97% 1.54%
Finance group | Securitized debt (weighted-average rate of 1.71%)      
Debt      
Debt     $ 41
Weighted average interest rate (as a percent)     1.71%
Finance group | 6% Fixed-to-Floating Rate Junior Subordinated Notes      
Debt      
Debt   $ 299 $ 299
Interest rate (as a percent)   6.00% 6.00%